<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="stereo_camera">
    <pose>0 0 0.035 0 0 0</pose>
    <link name="link">
      <inertial>
        <pose>0.01 0.025 0.025 0 0 0</pose>
        <mass>0.01</mass>
        <inertia>
          <ixx>4.15e-6</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>2.407e-6</iyy>
          <iyz>0</iyz>
          <izz>2.407e-6</izz>
        </inertia>
      </inertial>
      <visual name="visual">
        <pose>0 0 0 0 1.57 0</pose>
        <geometry>
          <mesh>
            <uri>model://depth_camera/meshes/hokuyo.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <sensor type="multicamera" name="stereo_camera">
        <update_rate>7.0</update_rate>
        <camera name="left">
          <pose>0.1 0.035 0 0 0 0</pose>
          <horizontal_fov>1.3962634</horizontal_fov>
          <image>
            <width>400</width>
            <height>400</height>
            <format>R8G8B8</format>
          </image>
          <clip>
            <near>0.02</near>
            <far>300</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.007</stddev>
          </noise>
        </camera>
        <camera name="right">
          <pose>0.1 -0.035 0 0 0 0</pose>
          <horizontal_fov>1.3962634</horizontal_fov>
          <image>
            <width>400</width>
            <height>400</height>
            <format>R8G8B8</format>
          </image>
          <clip>
            <near>0.02</near>
            <far>300</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.007</stddev>
          </noise>
        </camera>
        <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>0.0</updateRate>
          <cameraName>stereo</cameraName>
          <imageTopicName>image_raw</imageTopicName>
          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
          <frameName>camera_link</frameName>
          <hackBaseline>0.07</hackBaseline>
          <distortionK1>0.0</distortionK1>
          <distortionK2>0.0</distortionK2>
          <distortionK3>0.0</distortionK3>
          <distortionT1>0.0</distortionT1>
          <distortionT2>0.0</distortionT2>
        </plugin>
      </sensor>
    </link>
  </model>
</sdf>
